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ethz-asl / ethzasl_ptam

Modified version of Parallel Tracking and Mapping (PTAM)
http://wiki.ros.org/ethzasl_ptam
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PTAM initialisation bug #70

Open vixtor-qm opened 9 years ago

vixtor-qm commented 9 years ago

HI, i found a bug in original and your PTAM code. bug is related to map initialisation here it is:

line362: p->RefreshPixelVectors(); At this moment p->worldPosition is not set, therefore pixel vectors will get arbitrary values. this then prevents finder.SetSubPixPos(vec(vTrailMatches[i].second)); bool bGood = finder.IterateSubPixToConvergence(*pkSecond,10); to find matches.

simonlynen commented 9 years ago

Can you make a pull request for this change? Then I am happy to take a look at it. Thanks On Jun 18, 2015 8:19 PM, "vixtor-qm" notifications@github.com wrote:

HI, i found a bug in original and your PTAM code. bug is related to map initialisation here it is:

line362: p->RefreshPixelVectors(); At this moment p->worldPosition is not set, therefore pixel vectors will get arbitrary values. this then prevents finder.SetSubPixPos(vec(vTrailMatches[i].second)); bool bGood = finder.IterateSubPixToConvergence(*pkSecond,10); to find matches.

— Reply to this email directly or view it on GitHub https://github.com/ethz-asl/ethzasl_ptam/issues/70.

vixtor-qm commented 9 years ago

yes, sure. can't do right now, will do tomorrow morning